Surgical device

ABSTRACT

A surgical device includes a first jaw and a second jaw moveable relative to the first jaw between a first position, in which the first and second jaws are aligned within a plane, and a second position, in which the second jaw is in non-parallel correspondence to the plane. The surgical device may include a surgical member, e.g., a cutting and/or stapling element, disposed within the first jaw, and a second driver configured to cause relative movement of the surgical member in a direction parallel to the plane. The first and second jaws may include a camming arrangement that is configured to move the second jaw between the first and second positions. The camming arrangement may include a channel disposed along at least a portion of one or both of the first and second jaws, a ball bearing disposed within the channel.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is related to U.S. patent application Ser. No.09/510,923, filed on Feb. 22, 2000, now issued as U.S. Pat. No.6,517,565 on Feb. 11, 2003, U.S. patent application Ser. No. 09/723,715,filed on Nov. 28, 2000, U.S. patent application Ser. No. 09/836,781,filed on Apr. 17, 2001, U.S. patent application Ser. No. 09/887,789,filed on Jun. 22, 2001, and U.S. Provisional Patent Application Ser. No.60/337,544, filed on Dec. 4, 2001, U.S. patent application Ser. No.10/309,532, filed on Dec. 4, 2002, U.S. patent application Ser. No.10/094,051, filed on Mar. 8, 2002, each of which is expresslyincorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to a surgical device. More specifically,the present invention relates to a clamping, cutting and stapling devicehaving a swivelable jaw.

BACKGROUND INFORMATION

The literature is replete with descriptions of surgical devices. Some ofthese surgical devices are described in U.S. Pat. No. 4,705,038 toSjostrom et al.; U.S. Pat. No. 4,995,877 to Ams et al.; U.S. Pat. No.5,249,583 to Mallaby; U.S. Pat. No. 5,395,033 to Byrne et al.; U.S. Pat.No. 5,467,911 to Tsuruta et al.; U.S. Pat. Nos. 5,383,880, 5,518,163,5,518,164 and 5,667,517, all to Hooven; U.S. Pat. No. 5,653,374 to Younget al.; U.S. Pat. No. 5,779,130 to Alesi et al.; and U.S. Pat. No.5,954,259 to Viola et al.

One type of surgical device is a straight stapling device, which is aguillotine-type device that is used to cut and staple a section oftissue. FIG. 1( a) illustrates an example of such a device as describedin U.S. Pat. No. 3,494,533. The device illustrated in FIG. 1( a)includes opposing jaws that move in parallel correspondence to eachother. A first jaw has disposed therein an arrangement of staples whilethe second jaw provides an anvil for receiving and closing the staples.A staple pusher is located within the first jaw and extends from aproximal end of the first jaw to a distal end of the first jaw. A driveshaft, coupled to the first jaw and to the staple pusher, is located inthe plane of movement of the first jaw and the staple pusher. Whenactuated, the drive shaft drives the staple pusher so as tosimultaneously push all of the staples against the staple guides in theanvil of the second jaw.

Other examples of surgical devices are described in U.S. Pat. No.4,442,964, U.S. Pat. No. 4,671,445, and U.S. Pat. No. 5,413,267. Suchsurgical staplers include opposing jaws that move in parallelcorrespondence to each other, wherein a first jaw has disposed thereinan arrangement of staples while the second jaw provides an anvil forreceiving and closing the staples. A staple pusher is located within thefirst jaw and that extends from a proximal end of the first jaw to adistal end of the first jaw. A drive shaft, coupled to the first jaw andto the staple pusher, is located in the plane of movement of the firstjaw and the staple pusher and when actuated, the drive shaft drives thestaple pusher so as to simultaneously push all of the staples againstthe staple guides in the anvil of the second jaw.

Another type of surgical device is a linear clamping, cutting andstapling device, such as that described in U.S. Pat. No. 6,264,087. Sucha device may be employed in a surgical procedure to resect a cancerousor anomalous tissue from a gastro-intestinal tract. A conventionallinear clamping, cutting and stapling instrument is illustrated in aperspective view in FIG. 1( b). The device includes a pistol grip-styledstructure having an elongated shaft and distal portion. The distalportion includes a pair of scissors-styled gripping elements, whichclamp the open ends of the colon closed. One of the two scissors-styledgripping elements, the anvil portion, moves or pivots relative to theoverall structure, whereas the other gripping element remains fixedrelative to the overall structure. The actuation of this scissoringdevice, i.e., the pivoting of the anvil portion, is controlled by a griptrigger arranged in the handle. In addition to the scissoring device,the distal portion also includes a stapling mechanism. The fixedgripping element of the scissoring mechanism includes a staple cartridgereceiving region and a mechanism for driving the staples through theclamped end of the tissue, against the anvil portion, thereby sealingthe previously opened end. The scissoring elements may be integrallyformed with the shaft or may be detachable such that various scissoringand stapling elements may be interchangeable.

Generally, these surgical devices are employed in the following manner:upon identification of cancerous or other anomalous tissue in thegastrointestinal tract (and upon determination that the cancerous tissueis located at a position in the colon), a patient's abdomen is initiallyopened to expose the bowel. A surgeon then cuts the tube of the colon oneither side of the cancerous tissue, and staples closed the two openends of the bowel (a distal end which is directed toward the anus, andthe proximal end which is closest to the lower intestine). Thistemporary closure is performed in order to minimize contamination of theexposed abdomen by the bowel contents. More particularly, this temporaryclosure of the two open ends of the bowel is achieved when the colon isplaced between the jaws of the surgical device. By actuating a firstdriving mechanism, the surgeon causes the jaws to come together. Asecond driving mechanism is then actuated to drive a series of staplesand a cutting blade through the clamped end of the colon, therebyclosing and transecting the ends. This procedure is typically repeated asecond time on the other side of the cancerous or anomalous tissue.

One problem with the foregoing surgical devices is that the devices maybe difficult to maneuver. Because these devices may be employedcorporally, e.g., inside the body of a patient, the device should beconfigured so as to be maneuverable inside the body of a patient.Conventional surgical devices, such as those illustrated in FIGS. 1( a)and 1(b), are difficult to maneuver, especially inside the patient'sbody.

Another problem with the foregoing surgical devices is that the devicesmay not be positionable satisfactorily within the patient's body. Forexample, when a conventional device is employed to clamp, cut and staplea section of tissue immediately adjacent to an anal stump, it may bedesirable to position the device, and to clamp, cut and staple a sectionof tissue, as close as possible to the anus—however, conventionaldevices may not be positionable as close to the anal stump as desiredbecause the jaws of the surgical device, when in the open position,require a large space and are prevented from being satisfactorilypositioned by tissue inside the patient's body and surrounding the analstump.

SUMMARY OF THE INVENTION

The present invention, according to one example embodiment thereof,relates to a surgical device. The surgical device includes a first jaw.The surgical device also includes a second jaw moveable relative to thefirst jaw between a first position, in which the first and second jawsare aligned within a plane, and a second position, in which the secondjaw is in non-parallel correspondence to the plane. In this manner, thesecond jaw is moveable, e.g., swivelable, relative to the first jawbetween a closed position and an open position. For instance, duringoperation, the second jaw may move within the plane as the second jaw ismoved a first distance relative to the first jaw, and may move at leastpartially out of the plane, e.g., may swivel, as the second jaw is moveda second distance relative to the first jaw.

The surgical device may include a first driver configured to causerelative movement of the first jaw and the second jaw, the first driverbeing configured to engage a drive shaft rotatable about a rotation axisarranged in either parallel or non-parallel, e.g., perpendicular,correspondence to the plane.

The surgical device may also includes a surgical member, e.g., a cuttingand/or stapling element, disposed within the first jaw, and a seconddriver configured to cause relative movement of the surgical member in adirection parallel to the plane. The second driver may be configured toengage a second drive shaft rotatable about a rotation axis arranged ineither a parallel or non-parallel, e.g., perpendicular, correspondenceto the plane. An electro-mechanical driver may be employed to rotate thefirst rotatable drive shaft, such that the first rotatable drive shaftis rotated in a first direction to effect extending of the jaws androtated in a second direction opposite to the first direction to effectclosing of the jaws. In one embodiment, the first driver includes atleast a spur gears, a worm and a worm gear in turning and gearingrelationship with each other, and an externally-threaded screw fixedlyconnected at one end to the worm gear and in engagement with aninternally-threaded bore of the second jaw, the rotation of the gearsthereby causing relative movement of the first jaw and the second jaw.

In addition, the electro-mechanical driver may be employed to rotate thesecond rotatable drive shaft, such that the second rotatable drive shaftis rotated in a first direction to extend the surgical member androtated in a second direction opposite to the first direction to retractthe surgical member. In one embodiment, the second driver includes atleast a spur gear and a worm in turning and gearing relationship witheach other and with a pair of additional worm gears, each of the pair ofadditional worm gears having a centrally-disposed, internally-threadedbore in engagement with one of a pair of externally-threaded screwsfixedly connected the surgical member, the rotation of the gears therebycausing relative movement of the surgical member. The electro-mechanicaldriver may include at least one motor arrangement adapted to drive eachof the first and second rotatable drive shafts.

In one embodiment, the internally threaded bore of the second jaw isdisposed within an arm, the arm configured to move longitudinally withinand relative to a sleeve attached to the first jaw, the sleeve and thearm having a camming arrangement that configured to move the second jawbetween the first and second positions. The camming arrangement mayinclude a channel disposed along at least one of the arm and the sleeve,a ball bearing disposed within the channel.

The present invention, according to one example embodiment thereof,relates to a surgical device including a first jaw and a second jaw. Thesecond jaw is coupled to and moveable relative to the first jaw betweena closed position and an intermediate open position. Between the closedposition and the intermediate open position, the clamping surfaces ofthe first and second jaws define first and second planes that remain inparallel correspondence relative to each other. In addition, the secondjaw is further moveable relative to the first jaw between theintermediate open position and a fully opened position. Between theintermediate open position and the fully opened position, the first andsecond planes defined by the clamping surfaces of the first and secondjaws are moved out of parallel correspondence relative to each other.For instance, between the intermediate open position and a fully openedposition, the second jaw may be pivotable relative to the first jawabout an axis perpendicular to the plane. In the closed position, thefirst jaw and the second jaw may be arranged in a third plane, and afirst driver configured to cause relative movement of the first jaw andthe second jaw may be configured to engage a first rotatable drive shaftthat is rotatable about a rotation axis arranged in one of parallel andnon-parallel correspondence to the third plane. The surgical device mayalso include a surgical member, e.g., a cutting and/or stapling elementor a thrust plate to which is mounted a cutting and/or stapling element,the surgical member being disposed within the first jaw, wherein asecond driver is configured to cause relative movement of the surgicalmember in a direction parallel to the third plane. The second driver mayengage a second drive shaft rotatable about a rotation axis arranged inone of parallel and non-parallel correspondence to the third plane. Anelectro-mechanical driver may be employed to rotate the first and/orsecond rotatable drive shafts.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1( a) is a side view of a conventional surgical device;

FIG. 1( b) is a perspective view of a conventional linear clamping,cutting and stapling device;

FIG. 2 is a perspective view of an electro-mechanical surgical systemaccording to one example embodiment of the present invention;

FIG. 3 is a perspective view of a cutting and stapling attachmentaccording to one example embodiment of the present invention in an openposition;

FIG. 4 is a side view of the cutting and stapling attachment illustratedin FIG. 3 in a closed position;

FIG. 5 is a side view of the cutting and stapling attachment illustratedin FIGS. 3 and 4 having a surgical element in the retracted position;

FIG. 6 is a side view of the cutting and stapling attachment illustratedin FIGS. 3 to 5 having the surgical elements in the extended position;

FIG. 7 is a top view of the cutting and stapling attachment illustratedin FIGS. 3 and 4;

FIG. 8( a) is an exploded view of a staple cartridge assembly, accordingto one example embodiment of the present invention;

FIG. 8( b) is an exploded view of a thrust plate component, according toanother example embodiment of the present invention;

FIG. 8( c) is an exploded view of an anvil component, according to oneexample embodiment of the present invention;

FIG. 8( d) is an exploded view of a side plate component, according toanother example embodiment of the present invention;

FIG. 8( e) is a partially exploded perspective view of the cutting andstapling attachment, according to another example embodiment of thepresent invention;

FIG. 9 is an assembled, perspective view of the cutting and staplingattachment illustrated in FIGS. 8( a) through 8(e) in the open position;

FIG. 10 is a side elevational view, partially in section, of a flexibleshaft of the electro-mechanical surgical device illustrated in FIG. 2;

FIG. 11 is a cross-sectional view of the flexible shaft taken along theline 11-11 shown in FIG. 10;

FIG. 12 is a rear end view of a first coupling of the flexible shaftillustrated in FIG. 10;

FIG. 13 is a front end view of a second coupling of the flexible shaftillustrated in FIG. 10;

FIG. 14 is a schematic view of a motor arrangement of theelectro-mechanical surgical system illustrated in FIG. 2;

FIG. 15 is a schematic view of the electro-mechanical surgical systemillustrated in FIG. 2;

FIG. 16 is a schematic view of an encoder of the flexible shaftillustrated in FIG. 10;

FIG. 17 is a schematic view of a memory device of a linear clamping,cutting and stapling device according to one example embodiment of thepresent invention;

FIG. 18 is a schematic view of a wireless remote control unit of theelectro-mechanical surgical system illustrated in FIG. 2; and

FIG. 19 is a schematic view of a wired remote control unit of theelectro-mechanical surgical system illustrated in FIG. 2.

FIGS. 20( a)-(c) are various views of a cutting and stapling attachmentaccording to another example embodiment of the present invention.

DETAILED DESCRIPTION

An example embodiment of a surgical device 11 according to the presentinvention is illustrated in FIGS. 3 to 7. Referring to FIGS. 3 and 4, anexample embodiment of the surgical device 11, e.g., a clamping, cuttingand stapling device, is illustrated. In this example embodiment, thesurgical device 11 includes a second jaw 50 moveable relative to a firstjaw 80. A first end 50 a of second jaw 50 is mechanically coupled to afirst end 80 a of first jaw 80.

FIG. 3 is a perspective view that illustrates the surgical device 11 inan open position, wherein the second jaw 50 and the first jaw 80 are incontact with each other at their first ends 50 a and 80 a. In the openposition, the first jaw 80 is maintained in a longitudinal plane definedby the x and y axes illustrated in FIG. 3, while the second jaw 50 ismoved, e.g., swiveled, at least partially out of the longitudinal planedefined by the x and y axes. Specifically, the surgical device 11 isconfigured such that, in addition to the second jaw 50 moving verticallyrelative to the first jaw 80, the distal end 50 b of the second jaw 50moves into and out of alignment with the distal end 80 b of the firstjaw 80 b.

Mounted on a side of the first jaw 80 a is a gear housing 255. The gearhousing 255 includes a first drive socket 180 coupled to a first driver150, which for purposes of clarity is illustrated schematically. Thefirst driver 150 is coupled to a first end 50 a of the second jaw 50 toopen and close the first jaw 80 and the second jaw 50. In addition, thegear housing 255 also includes a second drive socket 310.

FIG. 4 illustrates the surgical device 11 in a closed position. In theclosed position, the second jaw 50 and the first jaw 80 are in contactwith each other at their first ends 50 a and 80 a and also at theirsecond ends 50 a and 50 b. Thus, between the open and closed positionsillustrated in FIGS. 3 and 4, respectively, the distal end 50 b of thesecond jaw 50 is moved into alignment with the distal end 80 b of thefirst jaw 80 b. In the closed position, a section of tissue may beclamped between the second jaw 50 and the first jaw 80.

FIGS. 5 and 6 also illustrate the surgical device 11 in the closedposition. FIGS. 5 and 6 illustrate the second drive socket 310 of thegear housing 255 coupled to a second driver 261, which is illustratedschematically. The second driver 261 is coupled to a surgical member262. The surgical member 262 may include a cutting and stapling assembly262, although other types of surgical members may be provided.

The second driver 261 is coupled to cutting and stapling assembly 262 tomove the cutting and stapling assembly 262 from a first retractedposition, as illustrated in FIG. 5, to a second extended position, asillustrated in FIG. 6. While two drive sockets, e.g., the first drivesocket 180 and the second drive socket 310, and two corresponding driveshafts, e.g., the first drive shaft 630 and the second drive shaft 632(see below), are illustrated, it is possible to provide any suitablenumber of drive sockets and drive shafts. For example, a single driveshaft may be provided to drive the surgical device.

FIG. 7 is a top view of the surgical device 11 illustrated in FIGS. 3 to6. FIG. 7 illustrates the surgical device 11 coupled, e.g., removably orpermanently, to an electro-mechanical driver component 610. FIG. 7illustrates the surgical device 11 including the first driver 150, whichis coupled via first drive socket 180 to a first motor 680 of the system610 by a first drive shaft 630. The first driver 150, when engaged bysystem 610, operates to open and close the first jaw 80 relative to thesecond jaw 50. In addition, FIG. 7 illustrates the surgical device 11including a second driver 261, which is coupled via the second drivesocket 310 to a second motor 676 of system 610 by a second drive shaft632. The second driver 261, when engaged by the system 610, operates todrive a cutting and stapling assembly 262. As illustrated in FIG. 7, thefirst drive socket 180 and the second drive socket 310 are disposed onthe surgical device 11 so that the first drive shaft 630 and the seconddrive shaft 632 may be coupled to the surgical device 11 at an angle,e.g., perpendicularly, to the x-y plane illustrated in FIG. 3. That is,the first drive shaft 630 and the second drive shaft 632 may be coupledto the surgical device 11, e.g., in the direction of the z-axisillustrated in FIG. 7.

FIGS. 8( a) through 8(e) are various exploded views of the surgicaldevice 11 according to an example embodiment of the present invention,and FIG. 9 is a perspective view of the surgical device 11 assembled.

FIG. 8( a) is an exploded view of a staple cartridge assembly 507. Thestaple cartridge assembly 507 includes a staple pusher 514. The staplepusher 514 is attached to a bottom surface 5022 of a thrust plate 502(explained below). The staple pusher 514 includes parallel rows 5141 and5142 of downwardly-disposed teeth 5143, each of which corresponds to andaligns with a staple guide 5053 of the anvil 505 (explained below). Aknife 519 having a cutting edge 5191 facing downwardly is disposedbetween the parallel rows of downwardly-disposed teeth 5143 of thestaple pusher 514.

A staple holder 513 is disposed below the staple pusher 514. The stapleholder 513 includes a cartridge having vertically-disposed slots 5132,each of which corresponds to and aligns with the downwardly-disposedteeth 5143 of the staple pusher 514 and with the staple guides 5053 ofthe anvil 505. A staple 528, which includes prongs 5281, is provided ineach slot 5132. The staple holder 513 also includes alongitudinally-disposed slot 5131, which extends through the stapleholder 513 and through which knife 519 may be passed. The staple holder513 includes a hole 5133 adjacent to one end 5134.

The hole 5133 of the staple holder 513 that is adjacent to the one end5134 of the staple holder 513 is configured to receive an end 5181 of apin 518. In the example embodiment, the pin 518 is maintained in asubstantially vertical position so as to be perpendicular to the stapleholder 513. The pin 518 includes a centrally-disposed internal bore 5183at its opposite end 5184 configured to receive a spring 524. Alsolocated at the end 5184 of the pin 518 is a lever 5182 which is attachedperpendicularly to the pin 518. The spring 524 biases the end 5181 ofthe pin 518 into an orifice 5057 of an anvil 505 (explained below).

A cartridge cap 515 is attached, such as by welding, to the end 5134 ofthe staple holder 513. Pins 5151, 5152 and 5153 of the cartridge cap 515engage openings 5135, 5136 and 5137, respectively, of the staple holder513. The cartridge cap 515 also includes an internally-disposed bore5154 which is configured to receive pin 518. The bore 5154 of thecartridge cap 515 includes a slot 5153 in communication therewith, theslot 5153 configured to guide the lever 5182 of the pin 518. In anexample embodiment, the internally-disposed bore 5154 of the cartridgecap 515 does not extend through the top surface 5155 of the cartridgecap 515; instead, it maintains the spring 524 within theinternally-disposed bore 5154. The biasing force of the spring 524pushes the end 5181 of the pin 518 into the hole 5133 of the stapleholder 513 and tends to ensure that the staple holder 513 is positionedso that the slots 5132 align with the downwardly-disposed teeth 5143 ofthe staple pusher 514 and with the staple guides 5053 of the anvil 505.The cartridge cap 515 is also maintained in position by a staplecartridge sleeve 526, which covers the staple holder 513. Within a slot5261 of the staple cartridge sleeve in mounted a memory unit 5011.

FIG. 8( b) is an exploded view of a thrust plate component 5031. Thethrust plate component 5031 includes screws 503 and 504. Both the screws503 and 504 are fixedly coupled, e.g., by welding, to a top surface 5021of a thrust plate 502.

FIG. 8( c) is an exploded view of an anvil component 504. According tothis example embodiment, the anvil component 504 includes an anvil 505,which is coupled, e.g., by welding, to an anvil swivel arm 509. Theanvil swivel arm 509 includes a vertically-disposed, internally-threadedbore 5051 extending longitudinally therethrough. The anvil swivel arm509 also includes a camming arrangement, e.g., a channel 5052 on itsouter surface. The channel 5052 extends longitudinally along a lowerportion of the outer surface of the anvil swivel arm 509, and thencurves as shown in FIG. 8( c) along an upper portion of the outersurface of the anvil swivel arm 509. In addition, the anvil 505 includesa plurality of staple pockets or guides 5053 in a parallel-disposedarrangement along a region 5054 of the anvil 505 that is in oppositecorrespondence to the first jaw 80. A knife pad 520 is disposed betweenthe plurality of staple guides 5053.

FIG. 8( d) is an exploded view of a side plate component 560. The sideplate component 560 has a top plate 5601 and a side plate 5602. The topplate 5601 has a first slot 5603 and a second slot 5604, each of whichhas a side-disposed open end. Also, the top plate 5601 has a third slot5605 that has a rear-disposed open end. Mounted, e.g., by welding, tothe side plate component 560 is a swivel arm sleeve 570 that has alongitudinally arranged internal bore 5701 extending therethrough. Aportion of the bore 5701 is cut away so as to form a vertically disposedslot 5702. An internal surface of the bore 5701 has an opening intowhich is integrally mounted a part of the camming arrangement, e.g., acam follower 571 such as a ball bearing.

FIG. 8( e) is a partially-exploded perspective view of the surgicaldevice 11, according to one example embodiment of the present invention.According to this example embodiment, the second jaw 50 includes theanvil component 504. The anvil component 504 is shown in FIG. 8( e) asbeing assembled, relative to the exploded view illustrated in FIG. 8(c).

The first jaw 80 includes a second side plate component 506. An externalsurface 5062 of the second side plate component 506 has an arrangementfor mounting a gear housing 255. The gear housing 255 is mounted to theexternal surface 5062 of the second side plate component 506 viafasteners, e.g., screws 533.

A quick-connect coupling 511 is mounted onto the gear housing 255 and isbiased via a set of springs. The gear housing 255 includes the firstdrive socket 180 and the second drive socket 310. In this exampleembodiment, the first drive socket 180 includes a first pinion 508 a(hidden), one end of which extends through an opening 2551 of the gearhousing 255 and the other end of which includes spur gear teeth. Thesecond drive socket 310 includes the second pinion 508 b (hidden), oneend of which extends through a second opening 2552 of the gear housing255 and the other end of which includes an engagement end. A memorymodule 501 is arranged in the gear housing 255 and includes a connectorthat extends through, or is accessible through, an opening of the gearhousing 255. The memory module 501 is maintained in position within thegear housing 255 by inboard and outboard shims. The memory module 501 isalso biased in its position by a spring 539.

The first and second pinions 508 a and 508 b engage a spur gear 529 aand a coupling element 529 b, respectively. The first spur gear 529 aincludes an internal bore 5293 (shown in dotted line) whichnon-rotatably engages an end 5231 of the first worm 523 a. The couplingelement 5296 includes an internal bore 5294 which non-rotatably engagesan end 5234 of the second worm 523 b and which non-rotatably engages theengagement end of the second pinion 508 b. As illustrated in FIG. 8( a),the bores 5293 and 5294, the ends 5231, 5234, and the engagement end ofthe second pinion 508 b may be, e.g., square. It should be understoodthat the bores 5293, 5294, the ends 5231, 5234, and the engagement endof the second pinion 508 b may have any shape or configuration thatprovides non-rotatable engagement therebetween.

In this example embodiment, the first worm 523 a has one end 5231, whichnon-rotatably engages the internal bore 5293 of the first spur gear 529a, and a second end 5232, which includes circumferentially-disposedthread(s) 5233. The second worm 523 b has one end 5234, whichnon-rotatably engages the internal bore 5294 of the coupling element5296, and a second end 5235 which includes circumferentially-disposedthreads 5236. The second end 5232 of the first worm 523 a extendsthrough a hole 5607 in the side plate 5602 of the side plate component560, and the end 5231 of the worm 523 a engages the first spur gear 529a. The second end 5235 of the second worm 523 b extends through a hole5606 in the side plate 5602 of the side plate component 560, and the end5234 of the worm 523 b engages the coupling element 529 b.

Also disposed within the surgical device 11 is a worm gear 522. The wormgear 522 has circumferentially-disposed teeth 5221, which engage thethread(s) 5233 of the second end 5232 of the worm 523 a. The worm gear522 includes an internal bore through which is disposed a screw 521. Thescrew 521 has a head 5211 under which is formed a circumferential groove5222. The screw 521 non-rotatably engages the internal bore of worm gear522. The worm gear 522 and the screw 521 may be separately or integrallyformed. The head 5211 and The groove 5222 are configured to fit and beretained within the slot 5605 of the side plate component 560. The screw521 has externally-disposed threads 5214, which engage theinternally-threaded bore 5051 of the swivel arm 509.

A worm gear 516 and a worm gear 517 are also disposed within thesurgical device 11. The worm gear 516 and the worm gear 517 arepositioned on opposite sides of the worm 523 b. Specifically, the wormgear 516 includes circumferentially-disposed gear teeth 5161, whichengage a first side of the worm 523 b, and the worm gear 517 includescircumferentially-disposed gear teeth 5171, which engage a second sideof the worm 523 b. The worm gear 516 includes a head 5162, under whichis formed a circumferential groove 5163. The head 5162 and the groove5163 are configured to fit and be maintained within the slot 5606 of theside plate component 560, so that the worm gear 516 is rotatable aboutits vertical central axis. The worm gear 517 includes a head 5172, underwhich is formed a circumferential groove 5173. The head 5172 and thegroove 5173 are configured to fit and be maintained within the slot 5607of the side plate component 560, so that the worm gear 517 is rotatableabout its vertical central axis.

The externally-threaded screw 504 of the thrust plate assembly 5031(shown in FIG. 8( e) as being assembled, relative to the exploded viewillustrated in FIG. 8( b)) is disposed through an internally-threadedbore 5164 of the worm gear 516. The externally-threaded screw 503 isdisposed through an internally-threaded bore 5174 of the worm gear 517.Because the worm gears 516 and 517 are located on, and engage, oppositesides of the worm 523 b, the internally-threaded bores 5164 and 5174 ofthe worm gears 516 and 517, as well as the externally-threaded screws504 and 503, may be oppositely threaded relative to each other. In theexample embodiment illustrated, the internally-threaded bore 5164 of theworm gear 516 may have a right-hand thread, which engages the right-handexternal thread of the screw 504, and the internally-threaded bore 5174of the worm gear 517 may have a left-handed thread, which engages theleft-handed external thread of the screw 503. As set forth above, boththe screws 503 and 504 are fixedly coupled to the top surface 5021 ofthe thrust plate 502.

The staple cartridge assembly 507, shown assembled in FIG. 8( e)relative to the exploded view illustrated in FIG. 8( a), is arrangedsuch that the staple pusher 514 is positioned below the bottom surface5022 of the thrust plate 502. The staple holder 513 is disposed belowthe staple pusher 514.

To assemble the surgical device 11, the proximal end 5071 of the staplecartridge assembly 507 is mated with surfaces 5073 on the sides of theslot 5702 of the swivel arm sleeve 570. The gears are arranged betweenthe thrust plate component 5031 and the top plate 5601 of the side platecomponent 560 and are maintained in position in part by their engagementwith the slots and openings of the side plate components 560, e.g., bythe engagement of the heads, e.g., head 5162, 5172 and 5211, within theslots, e.g., slots 5603, 5604 and 5605, of the side plate component 560.The threads 5214 of the screw 521 are engaged with theinternally-threaded bore 5051 of the swivel arm 509. The swivel arm 509resides within the central bore 5701 of the swivel arm sleeve 570. Thecam follower 571 is maintained within and extends internally within thebore 5071 of the swivel arm sleeve such that a portion of the camfollower 571 is within the channel 5052 of the swivel arm 509.

The second side plate component 506 is attached, e.g., by screws 599, tothe side plate component 560 such that the gears, the thrust platecomponent 5031, the staple cartridge assembly 507 and the swivel arm 509(within the swivel arm sleeve 570) are disposed therebetween. The gearhousing 255 is attached to the second side plate component 506, e.g., byscrews 533.

FIG. 9 is a perspective view of the fully-assembled surgical device 11in the open position. It should be understood that while the exampleembodiments of the present invention illustrated in FIGS. 3 to 9 includea guillotine-type arrangement of the stapling and cutting elements, inanother embodiment, a stapling and cutting element is moved between aproximal end and a distal end of the surgical device 11. For example, analternative example embodiment of the surgical device 11 may includegears coupled to a stapling and cutting element that is moved between aproximal end and a distal end of the surgical device 11, the gearsdriven by drive shafts that are coupled in non-parallel, e.g.,perpendicular, correspondence to the plane of movement of the first jaw80 and the second jaw 50.

Furthermore, it should be understood that while the example embodimentsof the present invention illustrated in FIGS. 3 to 9 include anarrangement in which the drive sockets 180, 310 are configured to engagedrive shafts, e.g., drive shafts 630 and 632, respectively, that arerotatable about a rotation axis arranged in non-parallel, e.g.,perpendicular, correspondence to the x-y plane (see, for instance, FIG.3), in another embodiment, the surgical device 11 may provide anarrangement in which the drive sockets 180, 310 are configured to engagedrive shafts, e.g., drive shafts 630 and 632, respectively, that arerotatable about a rotation axis arranged in parallel correspondence tothe x-y plane.

Still further, it should be understood that the camming arrangement forswiveling the second jaw 50 relative to the first jaw 80 may havevarious different configurations. For instance, the channel 5052 that isshown and described as being on the swivel arm 509 may be disposed onone or both of the swivel arm and the swivel arm sleeve 570.Furthermore, the channel 5052 of the swivel arm 509 may have a differentshape than the shape described hereinabove. Rather, the presentinvention may include any camming arrangement configured to move thesecond jaw 50 into non-parallel correspondence relative to the planedefined by the first and second jaws when in the closed position.

Still further, it should be understood that while the exampleembodiments of the present invention illustrated in FIGS. 3 to 9 includean arrangement in which the clamping surfaces of the first and secondjaws define planes that remain in parallel correspondence relative toeach other during operation, in another embodiment, the surgical device11 may provide an arrangement in which the clamping surfaces of thefirst and second jaws define planes that do not remain in parallelcorrespondence relative to each other during operation. For example, inan example embodiment, the surgical device 11 may provide an arrangementin which the first and second jaws open and close at least partially ina scissor-type fashion, the first and second jaws being connected attheir respective proximal ends by, e.g., a hinge, etc. For instance, thesurgical device may provide an arrangement whereby the second jaw iscoupled to and is moveable relative to the first jaw between a closedposition and an intermediate open position wherein, between the closedposition and the intermediate open position, the clamping surfaces ofthe first and second jaws define first and second planes that remain inparallel correspondence relative to each other. In addition, the secondjaw may be further moveable relative to the first jaw between theintermediate open position and a fully opened position wherein, betweenthe intermediate open position and the fully opened position, the firstand second planes defined by the clamping surfaces of the first andsecond jaws are moved out of parallel correspondence relative to eachother, e.g., the first and second jaws move in a scissor-like fashionbetween the intermediate open position and the fully open position. Suchan arrangement is illustrated, for example, in FIGS. 20( a)-(c), whichare various views of a cutting and stapling attachment according toanother example embodiment of the present invention. Specifically, FIG.20( a) is a perspective view of a device having such an arrangement.FIG. 20( b) is a cross-sectional view of this device taken through alead screw. FIG. 20( c) is a cross-sectional view of this device takenthrough a cam pin.

Still further, it should be understood that while the exampleembodiments of the present invention illustrated in FIGS. 3 to 9 includean arrangement in which the first and second jaws move at leastrotationally relative to each other during a portion of the operationsuch that the second jaw is caused to move out of a plane defined by thefirst and second jaws when the first and second jaws are in the fullyclosed position, in an example embodiment, the surgical device 11 mayprovide an arrangement in which the first and second jaws do not move atleast rotationally relative to each other out of a plane defined by thefirst and second jaws when the first and second jaws are in the fullyclosed position. For example, in an example embodiment, the surgicaldevice 11 may provide an arrangement in which the first and second jawsopen and close at least partially in a scissor-type fashion, the firstand second jaws being connected at their respective proximal ends by,e.g., a hinge, etc., such that the second jaw is maintained in the planedefined by the first and second jaws when the first and second jaws arein the fully closed position. For instance, the surgical device mayprovide an arrangement whereby the second jaw is coupled to and ismoveable relative to the first jaw between a closed position and anintermediate open position wherein, between the closed position and theintermediate open position, the first and second jaws are maintainedwithin a plane defined by the first and second jaws when the first andsecond jaws are in the fully closed position. In addition, the secondjaw may be further moveable relative to the first jaw between theintermediate open position and a fully opened position wherein, betweenthe intermediate open position and the fully opened position, the firstand second jaws are moved in a scissor-like fashion while beingmaintained within the plane defined by the first and second jaws whenthe first and second jaws are in the fully closed position.

According to one example embodiment of the present invention, thesurgical device 11 may be configured as an attachment to, or may beintegral with, an electro-mechanical surgical system, such aselectro-mechanical driver component 610. In another example embodiment,the surgical device may be an attachment to, or may integral with, amechanical driver system.

FIG. 2 is a perspective view of an example embodiment of anelectro-mechanical driver component 610 according to the presentinvention. Examples of such an electro-mechanical driver component aredescribed in, e.g., U.S. patent application Ser. No. 09/723,715, U.S.patent application Ser. No. 09/836,781 and U.S. patent application Ser.No. 09/887,789, each of which is expressly incorporated herein in theirentirety by reference thereto. The electro-mechanical driver component610 may include, for example, a remote power console 612, which includesa housing 614 having a front panel 615. Mounted on the front panel 615are a display device 616 and indicators 618 a, 618 b. A flexible shaft620 may extend from the housing 614 and may be detachably attachedthereto via a first coupling 622. The distal end 624 of the flexibleshaft 620 may include a second coupling 626 adapted to detachablyattach, e.g., the surgical device 11 described above, to the distal end624 of the flexible shaft 620. The second coupling 626 may also beadapted to detachably attach a different surgical instrument orattachment. In another example embodiment, the distal end 624 of theflexible shaft 620 may permanently attach to or be integral with asurgical instrument.

Referring to FIG. 10, there is seen a side view, partially in section,of flexible shaft 620. According to one example embodiment, the flexibleshaft 620 includes a tubular sheath 628, which may include a coating orother sealing arrangement configured to provide a fluid-tight sealbetween the interior channel 640 thereof and the environment. The sheath628 may be formed of a tissue-compatible, sterilizable elastomericmaterial. The sheath 628 may also be formed of a material that isautoclavable. Disposed within the interior channel 640 of the flexibleshaft 620, and extending along the entire length thereof, may be a firstrotatable drive shaft 630, a second rotatable drive shaft 632, a firststeering cable 634, a second steering cable 635, a third steering cable636, a fourth steering cable 637 and a data transfer cable 638, FIG. 11is a cross-sectional view of the flexible shaft 620 taken along the line11-11 illustrated in FIG. 10 and further illustrates the several cables630, 632, 634, 635, 636, 637, 638. Each distal end of the steeringcables 634, 635, 636, 637 is affixed to the distal end 624 of theflexible shaft 620. Each of the several cables 630, 632, 634, 635, 636,637, 638 may be contained within a respective sheath.

The first rotatable drive shaft 630 and the second rotatable drive shaft632 may be configured, for example, as highly flexible drive shafts,such as, for example, braided or helical drive cables. It should beunderstood that such highly flexible drive cables may have limitedtorque transmission characteristics and capabilities. It should also beunderstood that the surgical device 11, or other attachments connectedto the flexible shaft 620, may require a higher torque input than thetorque transmittable by the drive shafts 630, 632. The drive shafts 630,632 may thus be configured to transmit low torque but high speed, thehigh-speed/low-torque being converted to low-speed/high-torque bygearing arrangements disposed, for example, at the distal end and/or theproximal end of the flexible shaft 620, in the surgical instrument orattachment and/or in the remote power console 612. It should beappreciated that such gearing arrangement(s) may be provided at anysuitable location along the power train between the motors disposed inthe housing 614 and the attached surgical instrument or other attachmentconnected to the flexible shaft 620. Such gearing arrangement(s) mayinclude, for example, a spur gear arrangement, a planetary geararrangement, a harmonic gear arrangement, cycloidal drive arrangement,an epicyclic gear arrangement, etc.

Referring now to FIG. 12, there is seen a rear end view of the firstcoupling 622. The first coupling 622 includes a first connector 644, asecond connector 648, a third connector 652 and a fourth connector 656,each rotatably secured to first coupling 622. Each of the connectors644, 648, 652, 656 includes a respective recess 646, 650, 654, 658. Asillustrated in FIG. 12, each recess 646, 650, 654, 658 may behexagonally shaped. It should be appreciated, however, that the recesses646, 650, 654, 658 may have any shape and configuration adapted tonon-rotatably couple and rigidly attach the connectors 644, 648, 652,656 to respective drive shafts of the motor arrangement contained withinthe housing 612. It should be appreciated that complementary projectionsmay be provided on respective drive shafts of the motor arrangement tothereby drive the drive elements of the flexible shaft 620. It shouldalso be appreciated that the recesses may be provided on the driveshafts and complementary projections may be provided on the connectors644, 648, 652, 656. Any other coupling arrangement configured tonon-rotatably and releasably couple the connectors 644, 648, 652, 656and the drive shafts of the motor arrangement may be provided.

One of the connectors 644, 648, 652, 656 is non-rotatably secured to thefirst drive shaft 630, and another one of the connectors 644, 648, 652,656 is non-rotatably secured to the second drive shaft 632. Theremaining two of the connectors 644, 648, 652, 656 engage withtransmission elements configured to apply tensile forces on the steeringcables 634, 635, 636, 637 to thereby steer the distal end 624 of theflexible shaft 620. The data transfer cable 638 is electrically andlogically connected with a data connector 660. The data connector 660includes, for example, electrical contacts 662, corresponding to andequal in number to the number of individual wires contained in the datacable 638. The first coupling 622 includes a key structure 642configured to properly orient the first coupling 622 to a mating andcomplementary coupling arrangement disposed on the housing 612. Such keystructure 642 may be provided on either one, or both, of the firstcoupling 622 and the mating and complementary coupling arrangementdisposed on the housing 612. The first coupling 622 may include aquick-connect type connector, which may engage the first coupling 622 tothe housing 612 by a simple pushing motion. Seals may be provided inconjunction with any of the several connectors 644, 648, 652, 656, 660to provide a fluid-tight seal between the interior of the first coupling622 and the environment.

Referring now to FIG. 13, there is seen a front end view of the secondcoupling 626 of the flexible shaft 620. In the example embodiment, thesecond coupling 626 includes a first connector 666 and a secondconnector 668, each rotatably secured to the second coupling 626 andeach non-rotatably secured to a distal end of a respective one of thefirst and second drive shafts 630, 632. A quick-connect type fitting 664is provided on the second coupling 626 to detachably secure the surgicaldevice 11 thereto. The quick-connect type fitting 664 may be, forexample, a rotary quick-connect type fitting, a bayonet type fitting,etc. A key structure 674 is provided on the second coupling 626 andconfigured to properly align the surgical device 11 to the secondcoupling 626. The key structure or other arrangement configured toproperly align the surgical device 11 to the flexible shaft 620 may beprovided on either one, or both, of the second coupling 626 and thesurgical device 11. In addition, the quick-connect type fitting may beprovided on the surgical device 11, as illustrated in FIG. 8( e) as thequick connect coupling 511. A data connector 670 having electricalcontacts 672 is also provided in the second coupling 626. Like the dataconnector 660 of the first coupling 622, the data connector 670 of thesecond coupling 626 includes contacts 672 electrically and logicallyconnected to the respective wires of the data transfer cable 638 andcontacts 662 of the data connector 660. Seals may be provided inconjunction with the connectors 666, 668, 670 to provide a fluid-tightseal between the interior of the second coupling 626 and theenvironment.

Disposed within the housing 614 of the remote power console 612 areelectro-mechanical driver elements configured to drive the drive shafts630, 632 and the steering cables 634, 635, 636, 637 to thereby operatethe electro-mechanical driver component 610 and the surgical device 11attached to the second coupling 626. In the example embodimentillustrated schematically in FIG. 14, five electric motors 676, 680,684, 690, 696, each operated via a power source, may be disposed in theremote power console 612. It should be appreciated, however, that anyappropriate number of motors may be provided, and the motors may operatevia battery power, line current, a DC power supply, an electronicallycontrolled DC power supply, etc. It should also be appreciated that themotors may be connected to a DC power supply, which is in turn connectedto line current and which supplies the operating current to the motors.

FIG. 14 illustrates schematically one possible arrangement of motors. Anoutput shaft 678 of a first motor 676 engages with the first connector644 of the first coupling 622 when the first coupling 622, and,therefore, the flexible shaft 620, is engaged with the housing 614 tothereby drive the first drive shaft 630 and the first connector 666 ofthe second coupling 626. Similarly, an output shaft 682 of a secondmotor 680 engages the second connector 648 of the first coupling 622when the first coupling 622, and, therefore, the flexible shaft 620 isengaged with the housing 614 to thereby drive the second drive shaft 632and the second connector 668 of the second coupling 626. An output shaft686 of a third motor 684 engages the third connector 652 of the firstcoupling 622 when the first coupling 622, and, therefore, the flexibleshaft 620, is engaged with the housing 614 to thereby drive the firstand second steering cables 634, 635 via a first pulley arrangement 688.An output shaft 692 of a fourth motor 690 engages the fourth connector656 of the first coupling 622 when the first coupling 622, and,therefore, the flexible shaft 620, is engaged with the housing 614 tothereby drive the third and fourth steering cables 636, 637 via a secondpulley arrangement 694. The third and fourth motors 684, 690 may besecured on a carriage 1100, which is selectively movable via an outputshaft 698 of a fifth motor 696 between a first position and a secondposition to selectively engage and disengage the third and fourth motors684, 690 with the respective pulley arrangement 688, 694 to therebypermit the flexible shaft 620 to become taut and steerable or limp asnecessary. It should be appreciated that other mechanical, electricaland/or electro-mechanical mechanisms, etc., may be used to selectivelyengage and disengage the steering mechanism. The motors may be arrangedand configured as described, for example, in U.S. patent applicationSer. No. 09/510,923, entitled A Carriage Assembly for Controlling aSteering Wire Mechanism Within a Flexible Shaft” which was filed on Feb.22, 2000, now issued as U.S. Pat. No. 6,517,565 on Feb. 11, 2003, whichis expressly incorporated herein in its entirety by reference thereto.

It should be appreciated that any one or more of the motors 676, 680,684, 690, 696 may be, for example, a high-speed/low-torque motor, alow-speed/high-torque motor, etc. As indicated above, the firstrotatable drive shaft 630 and the second rotatable drive shaft 632 maybe configured to transmit high speed and low torque. Thus, the firstmotor 676 and the second motor 680 may be configured ashigh-speed/low-torque motors. Alternatively, the first motor 676 and thesecond motor 680 may be configured as low-speed/high-torque motors witha torque-reducing/speed-increasing gear arrangement disposed between thefirst motor 676 and the second motor 680 and a respective one of thefirst rotatable drive shaft 630 and the second rotatable drive shaft632. Such torque-reducing/speed-increasing gear arrangements mayinclude, for example, a spur gear arrangement, a planetary geararrangement, a harmonic gear arrangement, cycloidal drive arrangement,an epicyclic gear arrangement, etc. It should be appreciated that anysuch gear arrangement may be disposed within the remote power console612 or in the proximal end of the flexible shaft 620, such as, forexample, in the first coupling 622. It should be appreciated that thegear arrangement(s) may be provided at the distal and/or proximal endsof the first rotatable drive shaft 630 and/or the second rotatable driveshaft 632 to prevent windup and breakage thereof.

Referring now to FIG. 15, there is seen a schematic view of theelectro-mechanical driver component 610. A controller 1122 is providedin the housing 614 of the remote power console 612 and is configured tocontrol all functions and operations of the electro-mechanical drivercomponent 610 and the linear clamping, cutting and stapling device 11 orother surgical instrument or attachment attached to the flexible shaft620. A memory unit 1130 is provided and may include memory devices, suchas, a ROM component 1132, a RAM component 1134, etc. The ROM component1132 is in electrical and logical communication with the controller 1122via a line 1136, and the RAM component 1134 is in electrical and logicalcommunication with the controller 1122 via a line 1138. The RAMcomponent 1134 may include any type of random-access memory, such as,for example, a magnetic memory device, an optical memory device, amagneto-optical memory device, an electronic memory device, etc.Similarly, the ROM component 1132 may include any type of read-onlymemory, such as, for example, a removable memory device, such as aPC-Card or PCMCIA-type device. It should be appreciated that the ROMcomponent 1132 and the RAM component 1134 may be configured as a singleunit or may be separate units and that the ROM component 1132 and/or theRAM component 1134 may be provided in the form of a PC-Card orPCMCIA-type device.

The controller 1122 is further connected to the front panel 615 of thehousing 614 and, more particularly, to the display device 616 via a line1154 and indicators 618 a, 618 b via respective lines 1156, 1158. Thelines 1116, 1118, 1124, 1126, 1128 electrically and logically connectthe controller 1122 to the first, second, third, fourth and fifth motors676, 680, 684, 690, 696, respectively. A wired remote control unit(“RCU”) 115Q is electrically and logically connected to the controller1122 via a line 1152. A wireless RCU 1148 is also provided andcommunicates via a wireless link 1160 with a receiving/sending unit 1146connected via a line 1144 to a transceiver 1140. The transceiver 1140 iselectrically and logically connected to the controller 1122 via a line1142. The wireless link 1160 may be, for example, an optical link, suchas an infrared link, a radio link or any other form of wirelesscommunication link.

A switch device 1186, which may include, for example, an array of DIPswitches, may be connected to the controller 1122 via a line 1188. Theswitch device 1186 may be configured, for example, to select one of aplurality of languages used in displaying messages and prompts on thedisplay device 616. The messages and prompts may relate to, for example,the operation and/or the status of the electro-mechanical drivercomponent 610 and/or to the surgical device 11 attached thereto.

According to the example embodiment of the present invention, a firstencoder 1106 is provided within the second coupling 626 and isconfigured to output a signal in response to and in accordance with therotation of the first drive shaft 630. A second encoder 1108 is alsoprovided within the second coupling 626 and is configured to output asignal in response to and in accordance with the rotation of the seconddrive shaft 632. The signal output by each of the encoders 1106, 1108may represent the rotational position of the respective drive shaft 630,632 as well as the rotational direction thereof. Such encoders 1106,1108 may include, for example, Hall-effect devices, optical devices,etc. Although the encoders 1106, 1108 are described as being disposedwithin the second coupling 626, it should be appreciated that theencoders 1106, 1108 may be provided at any location between the motorsystem and the surgical device 11. It should be appreciated thatproviding the encoders 1106, 1108 within the second coupling 626 or atthe distal end of the flexible shaft 620 may provide an accuratedetermination of the drive shaft rotation. If the encoders 1106, 1108are disposed at the proximal end of the flexible shaft 620, windup ofthe first and second rotatable drive shafts 630, 632 may result inmeasurement error.

FIG. 16 is a schematic view of an encoder 1106, 1108, which includes aHall-effect device. Mounted non-rotatably on the drive shafts 630, 632is a magnet 1240 having a north pole 1242 and a south pole 1244. Theencoder 1106, 1108 further includes a first sensor 1246 and a secondsensor 1248, which are disposed approximately 90° apart relative to thelongitudinal, or rotational, axis of the drive shafts 630, 632. Theoutput of the sensors 1246, 1248 is persistent and changes its state asa function of a change of polarity of the magnetic field in thedetection range of the sensor. Thus, based on the output signal from theencoders 1106, 1108, the angular position of the drive shaft 630, 632may be determined within one-quarter revolution and the direction ofrotation of the drive shaft 630, 632 may be determined. The output ofeach encoder 1106, 1108 is transmitted via a respective line 1110, 1112of the data transfer cable 638 to the controller 1122. The controller1122, by tracking the angular position and rotational direction of thedrive shafts 630, 632 based on the output signal from the encoders 1106,1108, may thereby determine the position and/or state of the componentsof the surgical device connected to the electro-mechanical drivercomponent 610. That is, by counting the revolutions of the drive shaft630, 632, the controller 1122 may determine the position and/or state ofthe components of the surgical device connected to theelectro-mechanical driver component 610.

For example, the advancement distance between the first jaw 80 and thesecond jaw 50 and the thrust plate 502 are functions of, andascertainable on the basis of, the rotation of the respective driveshafts 630, 632. By ascertaining an absolute position of the second jaw50 and the thrust plate 502 at a point in time, the relativedisplacement of the second jaw 50 and the thrust plate 502, based on theoutput signal from the encoders 1106, 1108 and the known pitches of thescrew 521 and of the screws 503 and 504, may be used to ascertain theabsolute position of the first jaw 80 and the thrust plate 502 at alltimes thereafter. The absolute position of the second jaw 50 and thethrust plate 502 may be fixed and ascertained at the time that thesurgical device 11 is first coupled to the flexible shaft 620.Alternatively, the position of the second jaw 50 and the thrust plate502 relative to, for example, the first jaw 80 may be determined basedon the output signal from the encoders 1106, 1108.

The surgical device 11 may further include, as illustrated in FIG. 8(e), a data connector 1272 adapted by size and configuration toelectrically and logically connect to the connector 670 of the secondcoupling 626. In the example embodiment, the data connector 1272includes contacts equal in number to the number of leads 672 of theconnector 670. The memory module 501 is electrically and logicallyconnected with the data connector 1272. The memory module 501 may be inthe form of, for example, an EEPROM, EPROM, etc. and may be contained,for example, within the second jaw 50 of the surgical device 11.

FIG. 17 schematically illustrates the memory module 501. As seen in FIG.17, the data connector 1272 includes the contacts 1276, eachelectrically and logically connected to the memory module 501 via arespective line 1278. The memory module 501 may be configured to store,for example, a serial number data 1180, an attachment type identifier(ID) data 1182 and a usage data 1184. The memory module 501 mayadditionally store other data. Both the serial number data 1180 and theID data 1182 may be configured as read-only data. The serial number data1180 and/or the ID data 1182 may be stored in a read-only section of thememory module 501. In the example embodiment, the serial number data1180 may be data uniquely identifying the particular surgical device,whereas the ID data 1182 may be data identifying the type of theattachment, such as, for example, in a system 610 in which other typesof surgical instruments or attachments are attachable thereto. The usagedata 1184 represents usage of the particular attachment, such as, forexample, the number of times the first jaw 80 of the surgical device 11has been opened and closed, or the number of times that the thrust plateof the surgical device 11 has been advanced. The usage data 1184 may bestored in a read/write section of the memory module 501.

It should be appreciated that the attachment attachable to the distalend 624 of the flexible shaft 620, e.g., the surgical device 11, may bedesigned and configured to be used a single time or multiple times. Theattachment may also be designed and configured to be used apredetermined number of times. Accordingly, the usage data 1184 may beused to determine whether the surgical device 11 has been used andwhether the number of uses has exceeded the maximum number of permitteduses. As more fully described below, an attempt to use the attachmentafter the maximum number of permitted uses has been reached willgenerate an ERROR condition.

Referring again to FIG. 15, the controller 1122 is configured to readthe ID data 1182 from the memory module 501 of the surgical device 11when the surgical device 11 is initially connected to the flexible shaft620. The memory module 501 is electrically and logically connected tothe controller 1122 via the line 1120 of the data transfer cable 638.Based on the read ID data 1182, the controller 1122 is configured toread or select from the memory unit 1130, an operating program oralgorithm corresponding to the type of surgical instrument or attachmentconnected to the flexible shaft 620. The memory unit 1130 is configuredto store the operating programs or algorithms for each available type ofsurgical instrument or attachment, the controller 1122 selecting and/orreading the operating program or algorithm from the memory unit 1130 inaccordance with the ID data 1182 read from the memory module 501 of anattached surgical instrument or attachment. As indicated above, thememory unit 1130 may include a removable ROM component 1132 and/or RAMcomponent 1134. Thus, the operating programs or algorithms stored in thememory unit 1130 may be updated, added, deleted, improved or otherwiserevised as necessary. The operating programs or algorithms stored in thememory unit 1130 may be customizable based on, for example, specializedneeds of the user. A data entry device, such as, for example, akeyboard, a mouse, a pointing device, a touch screen, etc., may beconnected to the memory unit 1130 via, for example, a data connectorport, to facilitate the customization of the operating programs oralgorithms. Alternatively or additionally, the operating programs oralgorithms may be customized and preprogrammed into the memory unit 1130remotely from the electro-mechanical driver component 610. It should beappreciated that the serial number data 1180 and/or usage data 1184 mayalso be used to determine which of a plurality of operating programs oralgorithms is read or selected from the memory unit 1130. It should beappreciated that the operating program or algorithm may alternatively bestored in the memory module 501 of the surgical device 11 andtransferred to the controller 1122 via the data transfer cable 638. Oncethe appropriate operating program or algorithm is read by or selected byor transmitted to, the controller 1122, the controller 1122 causes theoperating program or algorithm to be executed in accordance withoperations performed by the user via the wired RCU 1150 and/or thewireless RCU 1148. As indicated hereinabove, the controller 1122 iselectrically and logically connected with the first, second, third,fourth and fifth motors 676, 680, 684, 690, 696 via respective lines1116, 1118, 1124, 1126, 1128 and is configured to control such motors676, 680, 684, 690, 696 in accordance with the read, selected ortransmitted operating program or algorithm via the respective lines1116, 1118, 1124, 1126, 1128. It should also be recognized that theabove-described features and operation with respect to the memory unit501 may also be applicable to memory unit 5011, e.g., see for instanceFIG. 8( a), corresponding to the staple cartridge assembly 507.

Referring now to FIG. 18, there is seen a schematic view of the wirelessRCU 1148. The wireless RCU 1148 includes a steering controller 1300having a plurality of switches 1302, 1304, 1306, 1308 arranged under afour-way rocker 1310. The operation of the switches 1302, 1304, via arocker 1310, controls the operation of first and second steering cables634, 635 via a third motor 684. Similarly, the operation of the switches1306, 1308, via the rocker 1310, controls the operation of the third andfourth steering cables 636, 637 via the fourth motor 692. It should beappreciated that the rocker 1310 and the switches 1302, 1304, 1306, 1308are arranged so that the operation of the switches 1302, 1304 steers theflexible shaft 620 in the north-south direction and that the operationof the switches 1306, 1308 steers the flexible shaft 620 in theeast-west direction. Reference herein to north, south, east and west ismade to a relative coordinate system. Alternatively, a digital joystick,an analog joystick, etc. may be provided in place of the rocker 1310 andthe switches 1302, 1304, 1306, 1308. Potentiometers or any other type ofactuator may also be used in place of the switches 1302, 1304, 1306,1308.

The wireless RCU 1148 further includes a steering engage/disengageswitch 1312, the operation of which controls the operation of the fifthmotor 696 to selectively engage and disengage the steering mechanism.The wireless RCU 1148 also includes a two-way rocker 1314 having firstand second switches 1316, 1318 operable thereby. The operation of theseswitches 1316, 1318 controls certain functions of the electro-mechanicaldriver component 610 and any surgical instrument or attachment, such asthe surgical device 11, attached to the flexible shaft 620 in accordancewith the operating program or algorithm corresponding to the attacheddevice 11. For example, operation of the two-way rocker 1314 may controlthe opening and closing of the first jaw 80 and the second jaw 50 of thesurgical device 11. The wireless RCU 1148 is provided with yet anotherswitch 1320, the operation of which may further control the operation ofthe electro-mechanical driver component 610 and the device 11 attachedto the flexible shaft 620 in accordance with the operating program oralgorithm corresponding to the attached device. For example, operationof the switch 1320 may initiate the advancement of the thrust plate 502of the surgical device 11.

The wireless RCU 1148 includes a controller 1322, which is electricallyand logically connected with the switches 1302, 1304, 1306, 1308 vialine 1324, with the switches 1316, 1318 via line 1326, with switch 1312via line 1328 and with switch 1320 via line 1330. The wireless RCU 1148may include indicators 618 a′, 618W, corresponding to the indicators 618a, 618 h of the front panel 615, and a display device 616′,corresponding to the display device 616 of the front panel 615. Ifprovided, the indicators 618 a′, 618W are electrically and logicallyconnected to the controller 1322 via respective lines 1332, 1334, andthe display device 616′ is electrically and logically connected to thecontroller 1322 via a line 1336. The controller 1322 is electrically andlogically connected to a transceiver 1338 via line 1340, and thetransceiver 1338 is electrically and logically connected to areceiver/transmitter 1342 via a line 1344. A power supply, for example,a battery, may be provided in the wireless RCU 1148 to power the same.Thus, the wireless RCU 1148 may be used to control the operation of theelectro-mechanical driver component 610 and the device 11 attached tothe flexible shaft 620 via the wireless link 1160.

The wireless RCU 1148 may include a switch 1346 connected to thecontroller 1322 via a line 1348. Operation of the switch 1346 transmitsa data signal to the transmitter/receiver 1146 via a wireless link 1160.The data signal includes identification data uniquely identifying thewireless RCU 1148. This identification data is used by the controller1122 to prevent unauthorized operation of the electro-mechanical drivercomponent 610 and to prevent interference with the operation of theelectro-mechanical driver component 610 by another wireless RCU. Eachsubsequent communication between the wireless RCU 1148 and theelectro-mechanical device surgical 610 may include the identificationdata. Thus, the controller 1122 may discriminate between wireless RCUsand thereby allow only a single, identifiable wireless RCU 1148 tocontrol the operation of the electro-mechanical driver component 610 andthe device 11 attached to the flexible shaft 620.

Based on the positions of the components of the device attached to theflexible shaft 620, as determined in accordance with the output signalsfrom the encoders 1106, 1108, the controller 1122 may selectively enableor disable the functions of the electro-mechanical driver component 610as defined by the operating program or algorithm corresponding to theattached device. For example, for the surgical device 11, the firingfunction controlled by the operation of the switch 1320 is disabledunless the space or gap between second jaw 50 and first jaw 80 isdetermined to be within an acceptable range.

Referring now to FIG. 19, there is seen a schematic view of a wired RCU1150. In the example embodiment, the wired RCU 1150 includessubstantially the same control elements as the wireless RCU 1148 andfurther description of such elements is omitted. Like elements areindicated in FIG. 19 with an accompanying prime. It should beappreciated that the functions of the electro-mechanical drivercomponent 610 and the device attached to the flexible shaft 620, e.g.,the surgical device 11, may be controlled by the wired RCU 1150 and/orby the wireless RCU 1148. In the event of a battery failure, forexample, in the wireless RCU 1148, the wired RCU 1150 may be used tocontrol the functions of the electro-mechanical driver component 610 andthe device attached to the flexible shaft 620.

As described hereinabove, the front panel 615 of the housing 614includes the display device 616 and the indicators 618 a, 618 b. Thedisplay device 616 may include an alpha-numeric display device, such asan LCD display device. The display device 616 may also include an audiooutput device, such as a speaker, a buzzer, etc. The display device 616is operated and controlled by the controller 1122 in accordance with theoperating program or algorithm corresponding to the device attached tothe flexible shaft 620, e.g., the surgical device 11. If no surgicalinstrument or attachment is so attached, a default operating program oralgorithm may be read by or selected by or transmitted to the controller1122 to thereby control the operation of the display device 616 as wellas the other aspects and functions of the electro-mechanical drivercomponent 610. If surgical device 11 is attached to flexible shaft 620,the display device 616 may display, for example, data indicative of thegap between the second jaw 50 and the first jaw 80 as determined inaccordance with the output signal of the encoders 1106, 1108, as morefully described hereinabove.

Similarly, the indicators 618 a, 618 b are operated and controlled bythe controller 1122 in accordance with the operating program oralgorithm corresponding to the device 11, attached to the flexible shaft620, e.g., the surgical device 11. The indicator 618 a and/or indicator618 b may include an audio output device, such as a speaker, a buzzer,etc., and/or a visual indicator device, such as an LED, a lamp, a light,etc. If the surgical device 11 is attached to the flexible shaft 620,the indicator 618 a may indicate, for example, that theelectro-mechanical driver component 610 is in a power ON state, and theindicator 618 b may, for example, indicate whether the gap between thesecond jaw 50 and the first jaw 80 is determined to be within theacceptable range. It should be appreciated that although two indicators618 a, 618 b are described, any number of additional indicators may beprovided as necessary. Additionally, it should be appreciated thatalthough a single display device 616 is described, any number ofadditional display devices may be provided as necessary.

The display device 616′ and the indicators 618 a′, 618 b′ of the wiredRCU 1150 and the display device 616″ and the indicators 618 a″, 618 b″of the wireless RCU 1148 are similarly operated and controlled byrespective controller 1322, 1322′ in accordance with the operatingprogram or algorithm of the device attached to the flexible shaft 620.

As described above, the surgical device 11 may be configured to clamp,cut and staple a section of tissue. The operation of the surgical device11 will now be described in connection with the removal of a cancerousor anomalous section of tissue in a patient's bowel, which is merely onetype of tissue and one type of surgery that may be performed using thesurgical device 11. Generally, in operation, after the cancerous oranomalous tissue in the gastrointestinal tract has been located, thepatient's abdomen is initially opened to expose the bowel. In accordancewith remote actuation provided by the electro-mechanical drivercomponent 610, the first and second jaws 50, 80 of the surgical device11 are driven into the open position by the first driver. As describedabove, the surgical device 11 may be initially maintained in the openposition, thereby eliminating the need to initially drive the surgicaldevice 11 into the open position. The tube of the bowel on a sideadjacent to the cancerous tissue is placed adjacent to the first jaw 80.The second jaw 50 is in the swiveled position illustrated, for instance,in FIG. 9. By remote actuation, the first driver is engaged in reverse,and the second jaw 50 is caused to move towards the first jaw 80.Initially, the second jaw 50 moves while in the swiveled position until,when the jaws are in between the open and closed positions, the secondjaw 50 is caused to swivel into alignment with the first jaw 80. Oncethe jaws are vertically aligned relative to each other, the first andsecond jaws are continued to be moved towards each other until the firstjaw 80 closes against the second jaw 50, clamping the section of boweltherebetween. Once the bowel has been sufficiently clamped, the seconddriver is engaged, which causes the thrust plate (having the staplepusher and the knife mounted thereto) to move between a first positionas illustrated in FIG. 5 and a second position as illustrated in FIG. 6,thereby cutting and stapling the bowel. The second driver is thenengaged in reverse, which causes the staple pusher and the knife to moveback into the first position as illustrated in FIG. 5. The first driveris then engaged to drive the first jaw 80 and the second jaw 50 of thesurgical device 11 back into the open position. These steps are thenrepeated on the other side of the cancerous tissue, thereby removing thesection of bowel containing the cancerous tissue, which is stapled oneither end to prevent spilling of bowel material into the open abdomen.

More specifically, according to the example embodiment of the presentinvention, the surgical device 11 is coupled to the attachment coupling626 of the electro-mechanical driver component 610 such that the firstdrive socket 180 engages the first drive shaft 630 of theelectro-mechanical driver component 610 and the second drive socket 310engages the second drive shaft 632 of the electro-mechanical drivercomponent 610. Thus, rotation of the pinion 508 a (hidden) is effectedby rotation of the first drive socket 180 which is effected by rotationof the corresponding drive shaft 630 of the electro-mechanical drivercomponent 610. Clockwise or counter-clockwise rotation of the pinion 508a is achieved depending on the direction of rotation of the motor 680.The rotation of the pinion 508 b (hidden) is effected by rotation of thesecond drive socket 310 which is effected by rotation of thecorresponding drive shaft 632 of the electro-mechanical driver component610. Clockwise or counter-clockwise rotation of the pinion 508 b isachieved depending on the direction of the motor 676.

When the surgical device 11 is in an initial closed position asillustrated in FIG. 4, the first motor 680 is operated in order to placethe surgical device in the open position. Specifically, the first motor680 corresponding to the first drive shaft 630 is activated, whichengages the first drive socket 180, thereby causing the pinion 508 a toturn in a first, e.g., counter-clockwise, rotation direction. Sincecircumferentially-disposed gear teeth of the pinion 508 a are engagedwith the circumferentially-disposed gear teeth 5291 of the spur gear 529a, the rotation of the pinion 508 a causes the spur gear to rotate in afirst, e.g., clockwise, direction which is opposite to the direction ofrotation of the pinion 508 a. The internal bore 5293 of the first spurgear 529 a engages the end 5231 of the first worm 523 a so as to causethe first worm 523 a to rotate in the same direction as that of thefirst spur gear 529 a, e.g., clockwise. The thread(s) 5233 of worm 523 aengage the gear teeth 5221 of worm gear 522 so as to cause rotation ofthe worm gear 522 in a first, e.g., counter-clockwise when viewed fromthe top, direction. The internal bore of the worm gear 522 non-rotatablyengages the screw 521, thereby causing the screw 521 to rotate in afirst, e.g., counter-clockwise when viewed from the top, direction. Theexternally-disposed thread(s) 5214 of the screw 521 engage the threadsof the internally-threaded bore 5051 of the swivel arm 509, therebycausing the swivel arm 509, and the anvil 505 attached thereto, to movein a downward direction, e.g., away from the first jaw 80. When the camfollower 571 within the swivel arm sleeve engages the curved portion ofthe channel 5052 of the swivel arm 509, the swivel arm 509, and theanvil 505 attached thereto, are caused to swivel out of alignment withthe first jaw 80. Continuous operation of the motor in this mannereventually places the surgical device 11 in an open state, providing aspace between the first jaw 80 and the second jaw 50, as illustrated inFIG. 3.

Next, a section of tissue is placed between the first jaw 80 and secondjaw 50. The first motor 680 is operated in reverse in order to place thesurgical device in the closed position. Specifically, the first motor680 corresponding to the first drive shaft 630 is activated, whichengages the first drive socket 180, thereby causing the pinion 508 a toturn in a second, e.g., clockwise, direction of rotation. Since thecircumferentially-disposed gear teeth (hidden) of the pinion 508 a areengaged with the circumferentially-disposed gear teeth 5291 of the spurgear 529 a, the rotation of the pinion 508 a causes the spur gear 529 ato rotate in a second, e.g., counter-clockwise, direction which isopposite to the direction of rotation of the pinion 508 a. The internalbore 5293 of the first spur gear 529 a is engaged with the end 5231 ofthe first worm gear 523 a, such that the rotation of the first spur gear529 a causes the first worm 523 a to rotate in the same direction as thefirst spur gear 529 a, e.g., counter-clockwise. The thread(s) 5233 ofthe worm gear 523 a are engaged with the worm gear teeth 5221 of wormgear 522, such that the rotation of the first worm 523 a causes rotationof the worm gear 522 in a second, e.g., clockwise when viewed from thetop, direction. The internal bore of the worm gear 522 is non-rotatablyengaged with the screw 521, such that the rotation of the worm gear 522causes the screw 521 to rotate in a second, e.g., clockwise when viewedfrom the top, direction. The externally-disposed threads) 5214 of thescrew 521 are engaged with the threads of the internally-threaded bore5051 of the swivel arm 509, such that the rotation of the screw 521causes the swivel arm 509, and the anvil 505 attached thereto, to movein an upward direction, e.g., toward the first jaw 80. Again, the ballbearing 571 within the swivel arm sleeve 570 engages the channel 5052 ofthe swivel arm 509 such that, as the anvil 505 is moved verticallytowards the first jaw 80, the swivel arm 509, and the anvil 505 attachedthereto, is caused to swivel into alignment with the first jaw 80. Theend 5181 of the pin 518 is inserted into an orifice 5057 of the anvil505 and maintained in the inserted position in accordance with the biasof spring 524 to maintain the section of tissue between the jaws.Continuous operation of the motor in this manner eventually places thesurgical device 11 in a closed state, as illustrated in FIG. 4, whereinthe tissue is clamped between the first jaw 80 and the second jaw 50. Inthis closed state, the section of tissue to be stapled and cut isclamped between the staple holder 513 and the anvil 505.

To begin the stapling and cutting procedure, the second motor 676 isactuated in order to move the thrust plate 502 from a first, raised,e.g., retracted, position to a second, lowered, e.g., extended,position. Specifically, the second motor 676 corresponding to the seconddrive shaft 632 is activated. The second drive shaft 632 is engaged withthe second drive socket 310, such that rotation of the second driveshaft 632 in a first direction, e.g., clockwise, causes the pinion 508 bto rotate in a first, e.g., clockwise, direction of rotation. Theengagement end of the pinion 508 b is non-rotatably engaged with theinternal bore 5294 of the coupling element 529 b, such that the rotationof the pinion 508 b causes the coupling element 529 b to rotate in afirst, e.g., clockwise, direction which is the same as the direction ofrotation of the pinion 508 b. The internal bore 5294 of the couplingelement 529 b is engaged with the end 5234 of the second worm gear 523b, such that the rotation of the coupling element 529 b causes thesecond worm 523 b to rotate in the same direction as that of thecoupling element 529 b, e.g., clockwise. The threads 5236 of the worm523 b are engaged with the worm gear teeth 5161 of the worm gear 516,such that rotation of the second worm 523 b causes rotation of the wormgear 516 in a first, e.g., counter-clockwise when viewed from the top,direction. The thread(s) of the internally-threaded bore 5164 of theworm gear 516 are engaged with the thread(s) of the screw 504. Becausethe screw 504 is non-rotatably coupled to the thrust plate 502, thescrew 504 and the thrust plate 502 move together in a downwarddirection. Simultaneously, the threads 5236 of the worm 523 b areengaged with the worm gear teeth 5171 of the worm gear 517, such thatthe rotation of the worm 523 b causes rotation of the worm gear 517 in afirst, e.g., clockwise when viewed from the top, direction. Thethread(s) of the internally-threaded bore 5174 of the worm gear 517engages the thread(s) of the screw 503. Because the screw 503 isnon-rotatably coupled to the thrust plate 502, the screw 503 and thethrust plate 502 also move together in a downward direction. Thus, thethrust plate 502 is lowered in a continuous fashion, and the staplepusher 514 and the knife 519, which are mounted to the bottom surface5022 of the thrust plate 502, are also lowered in a continuous fashion.

As the staple pusher 514 is lowered, the downwardly-disposed teeth 5143of the staple pusher 514 are pushed through the slots 5132 of the stapleholder 513. The staples 528, which are initially disposed within theslots 5132 of the staple holder 513, are pushed downwardly and out ofthe lower openings of the slots 5132 and through the clamped tissueuntil the prongs 5281 of the staples 528 contact corresponding stapleguides 5053 of the anvil 505. The staple guides 5053 bend and close theprongs 5281 of the staples 528, thereby stapling the tissue.Simultaneously, the knife 519 mounted to the bottom surface 5022 of thethrust plate 502 passes through the longitudinally-disposed slot 5131 ofthe staple holder 513 until it contacts the knife pad 520 of the anvil505, thereby cutting the clamped tissue.

Having performed a stapling and cutting procedure, the second motor 676is actuated to move the thrust plate 502 from the second loweredposition to the first raised position. Specifically, the second motor676 corresponding to the second drive shaft 632 is activated, which isengaged with the second drive socket 310. The rotation of the seconddrive shaft 632 causes the pinion 508 b to rotate in a second, e.g.,counter-clockwise, direction. The engagement end of the pinion 508 b isnon-rotatably engaged with the internal bore 5294 of the couplingelement 529 b, such that this rotation of the pinion 508 b causes thecoupling element 529 b to rotate in a second, e.g., counter-clockwise,direction. The internal bore 5294 of the coupling element 529 b is alsoengaged with the end 5234 of the second worm 523 b, such that therotation of the coupling element 529 b causes the second worm 523 b torotate in a second, e.g., counter-clockwise, direction. The thread(s)5236 of the worm 523 b are engaged with the circumferentially-disposedworm gear teeth 5161 of worm gear 516, such that the rotation of theworm 523 b causes the rotation of the worm gear 516 in a second, e.g.,clockwise when viewed from the top, direction. The thread(s) of theinternally-threaded bore 5164 of the worm gear 516 are engaged with thethread(s) of the screw 504, and, because the screw 504 is non-rotatablycoupled to the thrust plate 502, screw 504 and thrust plate 502 aretogether moved in an upward direction. Simultaneously, the thread(s)5236 of the worm 523 b engage the worm gear teeth 5171 of the worm gear517, such that the rotation of the worm 523 b causes rotation of theworm gear 517 in a second, e.g., counter-clockwise when viewed from thetop, direction. The thread(s) of the internally-threaded bore 5174 ofthe worm gear 517 is engaged with the threads of the screw 503, and,because the screw 503 is non-rotatably coupled to the thrust plate 502,the screw 503 and the thrust plate 502 move together in an upwarddirection. Thus, the thrust plate 502 is raised in a continuous fashion,and the staple pusher 514 and the knife 519, which are mounted to thebottom surface 5022 of the thrust plate 502, are also raised in acontinuous fashion to their initial retracted positions.

Having performed the cutting and stapling of the tissue and havingreturned the knife 519 to its retracted position, the first motor 680 isactuated to place the surgical device in the open position.Specifically, the first motor 680 corresponding to the first drive shaft630 is activated. The first drive shaft 630 is engaged with the firstdrive socket 180, such that the rotation of the first drive shaft 630causes the pinion 508 a to rotate in a first direction of rotation,e.g., counter-clockwise. The gear teeth of the pinion 508 a are engagedwith the gear teeth 5291 of the spur gear 529 a, such that the rotationof the pinion 508 a causes the spur gear to rotate in a first, e.g.,clockwise, direction. The internal bore 5293 of the first spur gear 529a is engaged with the end 5231 of the first worm 523 a, such that therotation of the first spur gear 529 a causes the first worm 523 a torotate in the same direction as the first spur gear 529 a, e.g.,clockwise. The thread(s) 5233 of the worm gear 523 a are engaged withthe worm gear teeth 5221 of the worm gear 522, such that the rotation ofthe worm gear 523 a causes the rotation of the worm gear 522 in a first,e.g., counter-clockwise when viewed from the top, direction. Theinternal bore of the worm gear 522 is non-rotatably engaged with thescrew 521, such that the rotation of the worm gear 522 causes the screw521 to rotate in a first, e.g., counter-clockwise when viewed from thetop, direction. The externally-disposed thread(s) 5214 of the screw 521are engaged with the thread(s) of the internally-threaded bore 5051 ofthe swivel arm 509, such that the rotation of the screw 521 causes theswivel arm 509, and the anvil 505 attached thereto, to move in andownward direction, e.g., away from the first jaw 80, and to swivel outof alignment with the first jaw 80. Thus, the second jaw 50 is separatedfrom the first jaw 80, until the surgical device 11 is again in an openposition, as illustrated in FIG. 3.

Thereafter, the surgical device 11 may be separated from theelectro-mechanical driver component and replaced with another surgicaldevice 11 so that the same clamping, cutting and stapling procedure maybe performed on a different section of the tissue, e.g., on the oppositeside of the anomalous or cancerous tissue. Once the second end of thebowel is also clamped, cut and stapled, the surgical device 11 may beseparated from the electro-mechanical driver component 610. Ifnecessary, an operator may discard the attachments or sterilize them forre-use.

It is noted that prior to actuation of the surgical device 11, acalibration procedure may be performed, either manually orautomatically. Various calibration procedures that, according to severalembodiments of the present invention, may be employed with the surgicaldevice 11 are described in U.S. Provisional Patent Application No.60/337,544, filed on Dec. 4, 2001, and U.S. patent application Ser. No.10/309,532, filed on Dec. 4, 2002, which are expressly incorporated intheir entirety herein by reference thereto.

According to the example embodiments of the present inventionillustrated in FIGS. 8( a) through 8(e), the surgical device 11 may benon-reloadable in that the staple cartridge assembly 507 or some partthereof, e.g., the staple holder 513, may not be removable from thesurgical device 11 by an operator to reload the surgical device 11 witha subsequent array of staples 523 and reuse the surgical device 11 forthe same, or other, patient or for the same, or other, procedure. Thus,after the surgical device 11 has been actuated once to staple a sectionof tissue using the staples 528 in the staple holder 513, the surgicaldevice 11 cannot be actuated again to staple another section of tissueusing a new set of staples 528 or a new staple holder 513. Byconfiguring the surgical device 11 so as to be non-reloadable, the riskof contamination or infection is reduced, since the surgical device 11may not be intentionally or unintentionally used on two differentpatients and may not be re-used on a single patient. However, inaccordance with one example embodiment of the present invention, thesurgical device 11 may be reloadable. For example, in this exampleembodiment, the surgical device 11 may be configured such that certaincomponents are removable from the surgical device 11 and replaceablewith respect to the surgical device 11. For example, in accordance withone example embodiment, the staple cartridge assembly 507 is detachablyattached to within the surgical device 11 and may be removed from thehousing 506 after being used in order to be replaced by another staplecartridge assembly. The replaceable cartridge may be removable when theupper jaw 80 and the lower jaw 50 are in the fully open position toprevent the cartridge from being inadvertently removed when the upperjaw 80 and the lower jaw 50 are clamped onto a section of tissue to becut and stapled. In one example embodiment, the staple cartridgeassembly 507 or some part thereof, e.g., the staple holder 513, isslideable into and out of the surgical device 11, such that a user mayslide a new staple cartridge assembly 507 or staple holder 513 having anew set of staples 528 into the surgical device 11 after the first setof staples 528 has been used. Alternatively, when the first set ofstaples 528 in the staple holder 513 has been used, the operator mayreplace the staples 528 in the same staple holder 513 and reuse the samestaple holder 513. In one example embodiment, the pin 518 may beretractable out of the hole 5133 of the staple holder 513 such that thecartridge cap 515 may be removably or moveably connected to the housing506.

In accordance with another example embodiment of the present invention,the surgical device 11 may provide limited reloadability. For example,the surgical device 11 may be configured to permit the staple holder 513to be replaced once, so that the clamping, cutting and staplingoperation may be performed twice on a single patient, e.g., on oppositesides of a cancerous section of tissue, but does not permit the stapleholder 513 to be replaced more than twice.

In another example embodiment of the present invention, the surgicaldevice 11 may be configured to maintain two sets of staples 528 withinthe staple holder 513, a first set of which is used on one side of acancerous section of tissue and a second set of which is used on theother side of the cancerous section of tissue. It should be understoodthat the surgical device 11 may be configured for any number of uses andthat usage may be determined in accordance with the usage data 1184.That is, the memory module 501 and/or 5011 may be configured to storedata representing the number of times that the surgical device 11 isreloaded. Thus, in accordance with the operating program, theelectro-mechanical driver component 610 may limit the number of timesthat a reloaded surgical device 11 may be fired in accordance with theusage information stored in the memory module 501 and/or 5011.

A surgical device 11 that is configured to be reloadable may be operatedin a similar manner to the non-reloadable surgical device 11 describedabove. However, the reloadability of the surgical device 11 permits theoperator to perform additional steps during the operation of thesurgical device 11. For example, once the surgical device 11 isinitially placed in the open position, the staple holder 513 may beaccessed by the operator and may be inspected to determine whether thestaples 528 are ready for the procedure and/or whether the need existsto replace the staple holder 513 with a more suitable staple holder 513.Similarly, once a clamping, cutting and stapling operation has beenperformed and the set of staples 528 has been used, the staple holder513 may be accessed by the operator again in order to replace the stapleholder 513 with another staple holder 513 or to insert another set ofstaples 528 into the same staple holder 513.

According to the example embodiments of the present inventionillustrated in FIGS. 8( a) and 8(b), the surgical device 11 may beconfigured to operate in more than one range of operation. This featuremay provide the advantage that sections of tissue having differentthicknesses may be more appropriately accommodated by the surgicaldevice 11. Various examples of such a feature are described in, e.g.,U.S. Provisional Patent Application No. 60/346,656, filed on Jan. 8,2002, and U.S. patent application Ser. No. 10/094,051, filed on Mar. 8,2002, which are expressly incorporated herein in their entirety byreference thereto.

The surgical device 11, according to various example embodimentsthereof, may also employ or be employed with various operating programsfor operating the surgical device 11. Examples of such operatingprograms are described in, e.g., U.S. Provisional Patent Application No.60/346,656, filed on Jan. 8, 2002, and U.S. patent application Ser. No.10/094,051, filed on Mar. 8, 2002, which as set forth above areexpressly incorporated herein in their entirety by reference thereto.

One problem of conventional surgical devices is that they may limit theapproach angle at which the device is used. As previously described,conventional surgical devices typically employ an instrument shaft thatis perpendicular to the section of tissue to be cut or stapled. When aconventional surgical device is employed corporally, e.g., inside thebody of a patient, the device is limited to a single approach angle forcutting and stapling the section of tissue.

By contrast, the surgical device 11 may not limit the approach angle atwhich the device is used. As previously described, the surgical device11, according to various example embodiments thereof, includes driveshafts 630 and 632 that are coupled to the first jaw 80 at an angle,e.g., perpendicular, to the plane of movement of the first jaw 80relative to the second jaw 50. Thus, when the surgical device 11 isemployed intracorporally, e.g., inside the body of a patient, thesurgical device 11 may not be limited to a single approach angle.Instead, a variety of approach angles may be employed, which may enablean operator to more effectively use the surgical device on varioussections of tissue.

Another problem of conventional surgical devices is that they may bedifficult to maneuver within the body of a patient. For example, when aconventional surgical device is employed to clamp or staple a section oftissue that is not easily maneuverable, the surgical device must bemaneuvered instead. For example, in the case of a section ofgastro-intestinal tissue located adjacent to the anal stump, the sectionof tissue may not be maneuverable prior to or during performance of theoperation. A conventional surgical device cannot be employed in such alocation, because the approach angle required to be used by an operatormay interfere with the pelvis of the patient. Furthermore, conventionalsurgical devices may not be positionable satisfactorily in such alocation because the jaws of the surgical device, when in the openposition, require a large space and are prevented from being positionedby the close proximity of the surrounding tissues inside the patient'sbody.

In contrast, the surgical device 11 according to various exampleembodiments thereof, may be less difficult to maneuver within the bodyof a patient. For example, in the above-described case of a section ofgastro-intestinal tissue located adjacent to the anal stump, thesurgical device 11 may be positioned at the very end of the section ofgastro-intestinal tissue nearest the anus. Thus, the angled, e.g.,perpendicular, arrangement of the drive shafts 630 and 632 relative tothe plane of movement of the first jaw 80 relative to the second jaw 50may improve the maneuverability of the surgical device 11 within thebody of the patient. Furthermore, the swivelable jaw of the presentinvention reduces the space that is required by the jaws when in theopen position. When the surgical device 11 of the present invention isin the fully open position, only the first jaw 80 is positioned at thedistal end of the surgical device 11, the second jaw 50 being swiveledout of alignment with the first jaw 80. Using the example surgicalprocedure of clamping, cutting and stapling a section of tissue at theanal stump, the first jaw 80 may be positioned closer to the anal stumpthan may be possible with conventional surgical devices because thesecond jaw 50 is swiveled away from the tissue located immediatelyadjacent to the anal stump. When the surgical device is moved into theclosed position, the second jaw 50 is gradually swiveled into alignmentwith the first jaw 80. When the second jaw 50 is eventually aligned withthe first jaw 80, the space required by the two jaws is less than wouldhave been required had the two jaws been aligned in the fully openposition. In this manner, the surgical device 11 may provide improvedpositionability within a patient's body.

Thus, the several aforementioned objects and advantages of the presentinvention are most effectively attained. Those skilled in the art willappreciate that numerous modifications of the exemplary exampleembodiments described hereinabove may be made without departing from thespirit and scope of the invention. Although various exemplary exampleembodiments of the present invention have been described and disclosedin detail herein, it should be understood that this invention is in nosense limited thereby and that its scope is to be determined by that ofthe appended claims.

1-34. (canceled)
 35. A method of operating a surgical device, comprisingthe step of: moving a second jaw relative to a first jaw between aclosed position and an intermediate open position within a plane; andmoving the second jaw relative to the first jaw between the intermediateopen position and a fully opened position at least rotationally about anaxis located within the plane.
 36. The method according to claim 35,further comprising the step of: rotating a first drive shaft about arotation axis, the first drive shaft configured to move the second jawbetween the closed, intermediate open and fully opened positions. 37.The method according to claim 36, further comprising the steps of:rotating a second drive shaft; and moving a surgical member disposedwithin the first jaw in a direction parallel to the plane and inaccordance with the rotation of the second rotatable drive shaft. 38.The method according to claim 37, wherein the surgical member includesat least one of a cutting element and a stapling element.
 39. The methodaccording to claim 36, wherein the first rotatable drive shaft isrotated by an electromechanical driver.
 40. The method according toclaim 36, wherein the second rotatable drive shaft is rotated by anelectromechanical driver.
 41. The method according to claim 36, whereinthe first jaw and the second jaw include a camming arrangement, themethod further comprising the step of engaging the camming arrangementwhen the first and second jaws are moved between the first and secondpositions.
 42. The method according to claim 41, wherein the cammingarrangement includes a channel disposed along at least on of the arm andthe sleeve, a cam follower disposed within the channel. 43-52.(canceled)
 53. A method of operating a surgical device, comprising thestep of: moving a second jaw relative to a first jaw between a closedposition and an intermediate open position within a plane; moving thesecond jaw relative to the first jaw between the intermediate openposition and a fully opened position at least rotationally about an axislocated within the plane; and engaging a camming arrangement when thefirst and second jaws are moved between the intermediate open positionand the fully open position.
 54. The method according to claim 53,wherein the first jaw defines a first longitudinal axis and the secondjaw defines a second longitudinal axis, wherein the first longitudinalaxis lies in a first plane having a fixed position with respect to thefirst jaw when the second jaw is in the closed position or in theintermediate open position.
 55. The method according to claim 54,wherein the second longitudinal axis lies substantially within the firstplane.
 56. The method according to claim 55, wherein the step of movingthe second jaw relative to the first jaw between the intermediate openposition and a fully opened position includes the step of rotating thesecond jaw with respect to the first jaw about an axis that issubstantially transverse to the first and second longitudinal axes. 57.The method according to claim 56, wherein the axis that is substantiallytransverse to the first and second longitudinal axes lies within thefirst plane.
 58. The method according to claim 53, wherein in the fullyopened position, at least one of the first jaw and the second jaw is notdisposed within the first plane.
 59. The method according to claim 53,wherein the second jaw includes an arm and the first jaw includes asleeve attached thereto, the arm configured to move longitudinallywithin and relative to the sleeve, the sleeve and the arm including thecamming arrangement that is configured to move the second jaw at leastbetween the intermediate open position and the fully open position. 60.The method according to claim 53, further comprising the step of:rotating a first drive shaft about a rotation axis, the first driveshaft configured to move the second jaw between the closed, intermediateopen and fully opened positions.
 61. The method according to claim 60,further comprising the steps of: rotating a second drive shaft; andmoving a surgical member disposed within the first jaw in a directionparallel to the first plane and in accordance with the rotation of thesecond rotatable drive shaft.
 62. The method according to claim 61,wherein the surgical member includes at least one of a cutting elementand a stapling element.
 63. The method according to claim 60, whereinthe first rotatable drive shaft is rotated by an electromechanicaldriver.
 64. The method according to claim 61, wherein the secondrotatable drive shaft is rotated by an electromechanical driver.
 65. Themethod according to claim 59, wherein the camming arrangement includes achannel disposed along at least one of the arm and the sleeve, and a camfollower disposed within the channel, wherein the channel includes ahelical portion.